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Home Limit Hal XK7130 6-13-18

lcvette
Jun 13th, 2018
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  1. # Generated by PNCconf at Thu Nov 9 12:55:45 2017
  2. # If you make changes to this file, they will be
  3. # overwritten when you run PNCconf again
  4.  
  5. loadrt trivkins
  6. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=16
  7. loadrt hostmot2
  8. loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"
  9. setp hm2_7i92.0.watchdog.timeout_ns 5000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s
  11. loadrt abs names=abs.spindle
  12. loadrt lowpass names=lowpass.spindle
  13. loadrt scale names=scale.spindle
  14. loadrt near
  15. loadrt xor2 count=4
  16.  
  17. addf hm2_7i92.0.read servo-thread
  18. addf motion-command-handler servo-thread
  19. addf motion-controller servo-thread
  20. addf pid.x.do-pid-calcs servo-thread
  21. addf pid.y.do-pid-calcs servo-thread
  22. addf pid.z.do-pid-calcs servo-thread
  23. addf pid.a.do-pid-calcs servo-thread
  24. addf pid.s.do-pid-calcs servo-thread
  25. addf scale.spindle servo-thread
  26. addf abs.spindle servo-thread
  27. addf lowpass.spindle servo-thread
  28. addf near.0 servo-thread
  29. addf hm2_7i92.0.write servo-thread
  30. addf xor2.0 servo-thread
  31. addf xor2.1 servo-thread
  32.  
  33. # external output signals
  34.  
  35. # --- DIGITAL OUTPUT ---
  36. net atc-out hm2_7i92.0.7i76.0.3.output-07 <= motion.digital-out-00
  37. net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01
  38.  
  39. # --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW ---
  40. net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06
  41. net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02
  42. net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out
  43. net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03
  44. net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04
  45.  
  46. # --- SPINDLE ORIENT BEGIN ---
  47. net spindle-orient-start motion.spindle-orient hm2_7i92.0.7i77.0.0.output-08
  48.  
  49. # --- SPINDLE-CW ---
  50. net spindle-cw hm2_7i92.0.7i77.0.0.output-09
  51.  
  52. # --- SPINDLE-CCW ---
  53. net spindle-ccw hm2_7i92.0.7i77.0.0.output-10
  54.  
  55. # --- X-ENABLE ---
  56. net x-enable hm2_7i92.0.7i76.0.3.output-12
  57.  
  58. # --- Y-ENABLE ---
  59. net y-enable hm2_7i92.0.7i76.0.3.output-13
  60.  
  61. # --- Z-ENABLE ---
  62. net z-enable hm2_7i92.0.7i76.0.3.output-14
  63.  
  64. # --- A-ENABLE ---
  65. net a-enable hm2_7i92.0.7i76.0.3.output-15
  66.  
  67. # --- Z-ENABLE ---
  68. net z-enable hm2_7i92.0.7i76.0.3.output-01
  69.  
  70. # --- COOLANT-FLOOD ---
  71. net coolant-flood hm2_7i92.0.7i76.0.3.output-04
  72.  
  73. # external input signals
  74.  
  75. # --- SPINDLE ORIENT ENDED ---
  76. net spindle-orient-end motion.spindle-is-oriented hm2_7i92.0.7i77.0.0.input-31
  77.  
  78. # --- ESTOP-EXT ---
  79. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21
  80.  
  81. # --- PROBE-IN ---
  82. net probe-in <= hm2_7i92.0.7i77.0.0.input-15
  83.  
  84. # --- DIGITAL INPUTS ---
  85. net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-00
  86.  
  87. net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-01
  88.  
  89. net Tool-Released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02
  90.  
  91. net Atc-Zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03
  92.  
  93. net Atc-Index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04
  94.  
  95. net Tool-Clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05
  96.  
  97. # --- MIN-Z ---
  98. net min-z <= hm2_7i92.0.7i77.0.0.input-05-not
  99.  
  100. # --- HOME-Z ---
  101. net home-z <= hm2_7i92.0.7i77.0.0.input-06-not
  102.  
  103. # --- MAX-Z ---
  104. net max-z <= hm2_7i92.0.7i77.0.0.input-05-not
  105.  
  106. # --- HOME-Y ---
  107. net home-y <= hm2_7i92.0.7i77.0.0.input-04-not
  108.  
  109. # --- MIN-Y ---
  110. net min-y <= hm2_7i92.0.7i77.0.0.input-03-not
  111.  
  112. # --- MAX-Y ---
  113. net max-y <= hm2_7i92.0.7i77.0.0.input-03-not
  114.  
  115. # --- HOME-X ---
  116. net home-x <= hm2_7i92.0.7i77.0.0.input-01-not
  117.  
  118. # --- MAX-X ---
  119. net max-x <= hm2_7i92.0.7i77.0.0.input-00-not
  120.  
  121. # --- MIN-X ---
  122. net min-x <= hm2_7i92.0.7i77.0.0.input-00-not
  123.  
  124. #*******************
  125. # AXIS X
  126. #*******************
  127.  
  128. setp pid.x.Pgain [AXIS_0]P
  129. setp pid.x.Igain [AXIS_0]I
  130. setp pid.x.Dgain [AXIS_0]D
  131. setp pid.x.bias [AXIS_0]BIAS
  132. setp pid.x.FF0 [AXIS_0]FF0
  133. setp pid.x.FF1 [AXIS_0]FF1
  134. setp pid.x.FF2 [AXIS_0]FF2
  135. setp pid.x.deadband [AXIS_0]DEADBAND
  136. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  137. setp pid.x.error-previous-target true
  138. setp pid.x.maxerror .0005
  139.  
  140. net x-index-enable <=> pid.x.index-enable
  141. net x-enable => pid.x.enable
  142. net x-pos-cmd => pid.x.command
  143. net x-vel-cmd => pid.x.command-deriv
  144. net x-pos-fb => pid.x.feedback
  145. net x-output => pid.x.output
  146.  
  147. # Step Gen signals/setup
  148.  
  149. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  150. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  151. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  152. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  153. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  154. setp hm2_7i92.0.stepgen.00.step_type 0
  155. setp hm2_7i92.0.stepgen.00.control-type 1
  156. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  157. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  158.  
  159. # ---closedloop stepper signals---
  160.  
  161. net x-pos-cmd <= axis.0.motor-pos-cmd
  162. net x-vel-cmd <= axis.0.joint-vel-cmd
  163. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  164. net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
  165. net x-pos-fb => axis.0.motor-pos-fb
  166. net x-enable <= axis.0.amp-enable-out
  167. net x-enable => hm2_7i92.0.stepgen.00.enable
  168. # ---Encoder feedback signals/setup---
  169.  
  170. setp hm2_7i92.0.encoder.01.counter-mode 0
  171. setp hm2_7i92.0.encoder.01.filter 1
  172. setp hm2_7i92.0.encoder.01.index-invert 0
  173. setp hm2_7i92.0.encoder.01.index-mask 0
  174. setp hm2_7i92.0.encoder.01.index-mask-invert 0
  175. setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
  176.  
  177. net x-encpos-fb <= hm2_7i92.0.encoder.01.position
  178. ##net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
  179. ##net x-encpos-fb => axis.0.motor-pos-fb
  180. net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
  181. net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts
  182. # ---setup home / limit switch signals---
  183.  
  184. net home-x => axis.0.home-sw-in
  185. net min-x => axis.0.neg-lim-sw-in
  186. net max-x => axis.0.pos-lim-sw-in
  187.  
  188. #*******************
  189. # AXIS Y
  190. #*******************
  191.  
  192. setp pid.y.Pgain [AXIS_1]P
  193. setp pid.y.Igain [AXIS_1]I
  194. setp pid.y.Dgain [AXIS_1]D
  195. setp pid.y.bias [AXIS_1]BIAS
  196. setp pid.y.FF0 [AXIS_1]FF0
  197. setp pid.y.FF1 [AXIS_1]FF1
  198. setp pid.y.FF2 [AXIS_1]FF2
  199. setp pid.y.deadband [AXIS_1]DEADBAND
  200. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  201. setp pid.y.error-previous-target true
  202. setp pid.y.maxerror .0005
  203.  
  204. net y-index-enable <=> pid.y.index-enable
  205. net y-enable => pid.y.enable
  206. net y-pos-cmd => pid.y.command
  207. net y-vel-cmd => pid.y.command-deriv
  208. net y-pos-fb => pid.y.feedback
  209. net y-output => pid.y.output
  210.  
  211. # Step Gen signals/setup
  212.  
  213. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  214. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  215. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  216. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  217. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  218. setp hm2_7i92.0.stepgen.01.step_type 0
  219. setp hm2_7i92.0.stepgen.01.control-type 1
  220. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  221. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  222.  
  223. # ---closedloop stepper signals---
  224.  
  225. net y-pos-cmd <= axis.1.motor-pos-cmd
  226. net y-vel-cmd <= axis.1.joint-vel-cmd
  227. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  228. net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
  229. net y-pos-fb => axis.1.motor-pos-fb
  230. net y-enable <= axis.1.amp-enable-out
  231. net y-enable => hm2_7i92.0.stepgen.01.enable
  232.  
  233. # ---Encoder feedback signals/setup---
  234.  
  235. setp hm2_7i92.0.encoder.02.counter-mode 0
  236. setp hm2_7i92.0.encoder.02.filter 1
  237. setp hm2_7i92.0.encoder.02.index-invert 0
  238. setp hm2_7i92.0.encoder.02.index-mask 0
  239. setp hm2_7i92.0.encoder.02.index-mask-invert 0
  240. setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE
  241.  
  242. net y-encpos-fb <= hm2_7i92.0.encoder.02.position
  243. ##net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
  244. ##net y-pos-fb => axis.1.motor-pos-fb
  245. net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
  246. net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts
  247. # ---setup home / limit switch signals---
  248.  
  249. net home-y => axis.1.home-sw-in
  250. net min-y => axis.1.neg-lim-sw-in
  251. net max-y => axis.1.pos-lim-sw-in
  252.  
  253. #*******************
  254. # AXIS Z
  255. #*******************
  256.  
  257. setp pid.z.Pgain [AXIS_2]P
  258. setp pid.z.Igain [AXIS_2]I
  259. setp pid.z.Dgain [AXIS_2]D
  260. setp pid.z.bias [AXIS_2]BIAS
  261. setp pid.z.FF0 [AXIS_2]FF0
  262. setp pid.z.FF1 [AXIS_2]FF1
  263. setp pid.z.FF2 [AXIS_2]FF2
  264. setp pid.z.deadband [AXIS_2]DEADBAND
  265. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  266. setp pid.z.error-previous-target true
  267. setp pid.z.maxerror .0005
  268.  
  269. net z-index-enable <=> pid.z.index-enable
  270. net z-enable => pid.z.enable
  271. net z-pos-cmd => pid.z.command
  272. net z-vel-cmd => pid.z.command-deriv
  273. net z-pos-fb => pid.z.feedback
  274. net z-output => pid.z.output
  275.  
  276. # Step Gen signals/setup
  277.  
  278. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  279. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  280. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  281. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  282. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  283. setp hm2_7i92.0.stepgen.02.step_type 0
  284. setp hm2_7i92.0.stepgen.02.control-type 1
  285. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  286. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  287.  
  288. # ---closedloop stepper signals---
  289.  
  290. net z-pos-cmd <= axis.2.motor-pos-cmd
  291. net z-vel-cmd <= axis.2.joint-vel-cmd
  292. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  293. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  294. net z-pos-fb => axis.2.motor-pos-fb
  295. net z-enable <= axis.2.amp-enable-out
  296. net z-enable => hm2_7i92.0.stepgen.02.enable
  297.  
  298. # ---Encoder feedback signals/setup---
  299.  
  300. setp hm2_7i92.0.encoder.04.counter-mode 0
  301. setp hm2_7i92.0.encoder.04.filter 1
  302. setp hm2_7i92.0.encoder.04.index-invert 0
  303. setp hm2_7i92.0.encoder.04.index-mask 0
  304. setp hm2_7i92.0.encoder.04.index-mask-invert 0
  305. setp hm2_7i92.0.encoder.04.scale [AXIS_2]ENCODER_SCALE
  306.  
  307. net z-encpos-fb <= hm2_7i92.0.encoder.04.position
  308. ##net z-vel-fb <= hm2_7i92.0.encoder.04.velocity
  309. ##net z-pos-fb => axis.2.motor-pos-fb
  310. net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.04.index-enable
  311. net z-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts
  312. # ---setup home / limit switch signals---
  313.  
  314. net home-z => axis.2.home-sw-in
  315. net min-z => axis.2.neg-lim-sw-in
  316. net max-z => axis.2.pos-lim-sw-in
  317.  
  318. #*******************
  319. # AXIS A
  320. #*******************
  321.  
  322. setp pid.a.Pgain [AXIS_3]P
  323. setp pid.a.Igain [AXIS_3]I
  324. setp pid.a.Dgain [AXIS_3]D
  325. setp pid.a.bias [AXIS_3]BIAS
  326. setp pid.a.FF0 [AXIS_3]FF0
  327. setp pid.a.FF1 [AXIS_3]FF1
  328. setp pid.a.FF2 [AXIS_3]FF2
  329. setp pid.a.deadband [AXIS_3]DEADBAND
  330. setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
  331. setp pid.a.error-previous-target true
  332. setp pid.a.maxerror .0005
  333.  
  334. net a-index-enable <=> pid.a.index-enable
  335. net a-enable => pid.a.enable
  336. net a-pos-cmd => pid.a.command
  337. net a-vel-cmd => pid.a.command-deriv
  338. net a-pos-fb => pid.a.feedback
  339. net a-output => pid.a.output
  340.  
  341. # Step Gen signals/setup
  342.  
  343. setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
  344. setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
  345. setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
  346. setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
  347. setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
  348. setp hm2_7i92.0.stepgen.03.step_type 0
  349. setp hm2_7i92.0.stepgen.03.control-type 1
  350. setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
  351. setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
  352.  
  353. # ---closedloop stepper signals---
  354.  
  355. net a-pos-cmd <= axis.3.motor-pos-cmd
  356. net a-vel-cmd <= axis.3.joint-vel-cmd
  357. net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
  358. net a-pos-fb <= hm2_7i92.0.stepgen.03.position-fb
  359. net a-pos-fb => axis.3.motor-pos-fb
  360. net a-enable <= axis.3.amp-enable-out
  361. net a-enable => hm2_7i92.0.stepgen.03.enable
  362.  
  363. # ---Encoder feedback signals/setup---
  364.  
  365. setp hm2_7i92.0.encoder.05.counter-mode 0
  366. setp hm2_7i92.0.encoder.05.filter 1
  367. setp hm2_7i92.0.encoder.05.index-invert 0
  368. setp hm2_7i92.0.encoder.05.index-mask 0
  369. setp hm2_7i92.0.encoder.05.index-mask-invert 0
  370. setp hm2_7i92.0.encoder.05.scale [AXIS_3]ENCODER_SCALE
  371.  
  372. net a-encpos-fb <= hm2_7i92.0.encoder.05.position
  373. ##net a-vel-fb <= hm2_7i92.0.encoder.05.velocity
  374. ##net a-pos-fb => axis.3.motor-pos-fb
  375. net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.05.index-enable
  376. net a-pos-rawcounts <= hm2_7i92.0.encoder.05.rawcounts
  377. # ---setup home / limit switch signals---
  378.  
  379. net a-home-sw => axis.3.home-sw-in
  380. net a-neg-limit => axis.3.neg-lim-sw-in
  381. net a-pos-limit => axis.3.pos-lim-sw-in
  382.  
  383. #*******************
  384. # SPINDLE S
  385. #*******************
  386.  
  387. setp pid.s.Pgain [SPINDLE_9]P
  388. setp pid.s.Igain [SPINDLE_9]I
  389. setp pid.s.Dgain [SPINDLE_9]D
  390. setp pid.s.bias [SPINDLE_9]BIAS
  391. setp pid.s.FF0 [SPINDLE_9]FF0
  392. setp pid.s.FF1 [SPINDLE_9]FF1
  393. setp pid.s.FF2 [SPINDLE_9]FF2
  394. setp pid.s.deadband [SPINDLE_9]DEADBAND
  395. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  396. setp pid.s.error-previous-target true
  397.  
  398. net spindle-index-enable <=> pid.s.index-enable
  399. net spindle-enable => pid.s.enable
  400. net spindle-vel-cmd-rpm-abs => pid.s.command
  401. net spindle-vel-fb-rpm-abs => pid.s.feedback
  402. net spindle-output <= pid.s.output
  403.  
  404. # ---PWM Generator signals/setup---
  405.  
  406. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  407. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  408. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  409.  
  410. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  411. net spindle-enable hm2_7i92.0.7i77.0.1.analogena
  412.  
  413. # ---Encoder feedback signals/setup---
  414.  
  415. setp hm2_7i92.0.encoder.00.counter-mode 0
  416. setp hm2_7i92.0.encoder.00.filter 1
  417. setp hm2_7i92.0.encoder.00.index-invert 0
  418. setp hm2_7i92.0.encoder.00.index-mask 0
  419. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  420. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  421.  
  422. net spindle-revs <= hm2_7i92.0.encoder.00.position
  423. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  424. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  425.  
  426. # ---setup spindle control signals---
  427.  
  428. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  429. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  430. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  431. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  432. net spindle-enable <= motion.spindle-on
  433. net spindle-cw <= motion.spindle-forward
  434. net spindle-ccw <= motion.spindle-reverse
  435. net spindle-brake <= motion.spindle-brake
  436. net spindle-revs => motion.spindle-revs
  437. net spindle-at-speed => motion.spindle-at-speed
  438. net spindle-vel-fb-rps => motion.spindle-speed-in
  439. net spindle-index-enable <=> motion.spindle-index-enable
  440.  
  441. # ---Setup spindle at speed signals---
  442.  
  443. net spindle-vel-cmd-rps => near.0.in1
  444. net spindle-vel-fb-rps => near.0.in2
  445.  
  446. ##########################
  447. net spindle-at-speed <= near.0.out
  448. ##########################
  449. setp near.0.scale 1.000000
  450. ##########################
  451. setp near.0.difference 5
  452.  
  453. ##sets spindle-at-speed true
  454.  
  455. # Use ACTUAL spindle velocity from spindle encoder
  456. # spindle-velocity bounces around so we filter it with lowpass
  457. # spindle-velocity is signed so we use absolute component to remove sign
  458. # ACTUAL velocity is in RPS not RPM so we scale it.
  459.  
  460. setp scale.spindle.gain 60
  461. setp lowpass.spindle.gain 1.000000
  462. net spindle-vel-fb-rps => scale.spindle.in
  463. net spindle-fb-rpm scale.spindle.out => abs.spindle.in
  464. net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
  465. net spindle-fb-rpm-abs-filtered lowpass.spindle.out
  466.  
  467. # ---coolant signals---
  468. net coolant-mist <= iocontrol.0.coolant-mist
  469. net coolant-flood <= iocontrol.0.coolant-flood
  470.  
  471. # ---probe signal---
  472.  
  473. net probe-in => motion.probe-input
  474.  
  475. # ---motion control signals---
  476.  
  477. net in-position <= motion.in-position
  478. net machine-is-enabled <= motion.motion-enabled
  479.  
  480. # ---digital in / out signals---
  481.  
  482. # ---estop signals---
  483.  
  484. net estop-out <= iocontrol.0.user-enable-out
  485. net estop-ext => iocontrol.0.emc-enable-in
  486.  
  487. # ---manual tool change signals---
  488.  
  489. #loadusr -W hal_manualtoolchange
  490. #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  491. #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  492. #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  493. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  494. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
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